Setting method of robot spray gun trajectory in copper plate spraying operation

Abstract

The invention discloses a method for setting the trajectory of a robot spray gun in the copper plate spraying operation, that is, setting the spraying area of ​​the spraying gun, the geometric model of the area is a spraying cone, setting the relevant parameters of the spraying medium and the spraying gun, and obtaining the area and radius of the spraying area and coating thickness; calculate the overlapping range of the spraying area, and obtain the overlapping distance of adjacent spraying areas according to the spraying angle of the spraying gun and the distance between the spraying guns in each spraying area; for the edges and corners of the copper plate, the spray gun and the arc surface of the edges and corners of the copper plate should be kept perpendicular to each other. Adjacent to the spraying area, the spray gun rotates at an angle of β with the axis of the angular arc surface as the center; the robot spray gun trajectory database is established and the relevant parameters of each spray gun trajectory in the database are compiled into a spray gun trajectory subroutine, and the spray gun trajectory runs according to the subroutine setting. The trajectory of the robot spray gun obtained by the method realizes the optimization target of the robot spraying operation, effectively improves the coating uniformity and quality, reduces the spraying cost, and improves the spraying efficiency.

Description

technical field [0001] The invention relates to a method for setting the track of a robot spray gun in copper plate spraying operation. Background technique [0002] At present, robots are widely used in spraying occasions. The setting of robot spray gun trajectory is very important to the coating quality. The spray gun trajectory is generally realized by programming. The traditional programming method generally uses teaching programming. The trajectory of the motion is recorded by selecting the appropriate coordinates, and then the written reproduction program is executed, and the actuator can reproduce the predetermined trajectory. This process is not only cumbersome, but also requires samples before teaching, which cannot be compared with mass production. At the same time, the spraying effect and efficiency are related to many factors such as the trajectory of the robot spray gun, the geometric shape of the copper plate to be coated, and the parameters of the spray gun. ...

AI Technical Summary

Problems solved by technology

[0002] At present, robots are widely used in spraying occasions. The setting of robot spray gun trajectory is very important to the coating quality. The spray gun trajectory is generally realized by programming. The traditional programming method generally uses teaching programming. The trajectory of the motion is recorded by selecting the appropriate coordinates, and then the written reproduction program is executed, and the actuator can reproduce the predetermined trajectory. This process is not only cumbersome, but also requires samples before teaching, which cannot be compared with mass production. At the same time, the spraying effect and efficiency are related to many factors such as the trajectory of the robot spray gun, the geometric shape of the copper plate to be coated, and the parameters of the spray gun. The metal coating required by the process, due to the characteristics of high temperature, high speed and high residual stress in the supersonic spraying forming process, the reasonable path planning of the spray gun trajectory in the supersonic spraying process of the robot is to obtain a uniform thickness of the metal coating and improve The key to metal coating formability

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